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Use stricter C++ type conversions (#4357)

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Now, implicit narrowing conversions are only used with wpi::Now(). This
also fixes clang-tidy warnings about C-style casts. For example:
```
== clang-tidy /__w/allwpilib/allwpilib/wpilibNewCommands/src/main/native/include/frc2/command/SwerveControllerCommand.inc ==
/__w/allwpilib/allwpilib/wpilibNewCommands/src/main/native/include/frc2/command/SwerveControllerCommand.inc:95:18: warning: C-style casts are discouraged; use static_cast/const_cast/reinterpret_cast [google-readability-casting]
  auto curTime = units::second_t(m_timer.Get());
                 ^
```
In that case at least, the cast was removed entirely since Get() already
returns a units::second_t.
This commit is contained in:
Tyler Veness
2022-08-17 13:42:36 -07:00
committed by GitHub
parent 151dabb2af
commit ac9be78e27
139 changed files with 547 additions and 593 deletions
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29
wpimath/src/test/native/cpp/estimator/DifferentialDrivePoseEstimatorTest.cpp
View File

@@ -18,22 +18,21 @@
#include "units/time.h"
TEST(DifferentialDrivePoseEstimatorTest, Accuracy) {
frc::DifferentialDrivePoseEstimator estimator{frc::Rotation2d(),
frc::Pose2d(),
frc::DifferentialDrivePoseEstimator estimator{frc::Rotation2d{},
frc::Pose2d{},
{0.02, 0.02, 0.01, 0.02, 0.02},
{0.01, 0.01, 0.001},
{0.1, 0.1, 0.01}};
frc::Trajectory trajectory = frc::TrajectoryGenerator::GenerateTrajectory(
std::vector{frc::Pose2d(0_m, 0_m, frc::Rotation2d(45_deg)),
frc::Pose2d(3_m, 0_m, frc::Rotation2d(-90_deg)),
frc::Pose2d(0_m, 0_m, frc::Rotation2d(135_deg)),
frc::Pose2d(-3_m, 0_m, frc::Rotation2d(-90_deg)),
frc::Pose2d(0_m, 0_m, frc::Rotation2d(45_deg))},
std::vector{frc::Pose2d{0_m, 0_m, 45_deg}, frc::Pose2d{3_m, 0_m, -90_deg},
frc::Pose2d{0_m, 0_m, 135_deg},
frc::Pose2d{-3_m, 0_m, -90_deg},
frc::Pose2d{0_m, 0_m, 45_deg}},
frc::TrajectoryConfig(10_mps, 5.0_mps_sq));
frc::DifferentialDriveKinematics kinematics{1.0_m};
frc::DifferentialDriveOdometry odometry{frc::Rotation2d()};
frc::DifferentialDriveOdometry odometry{frc::Rotation2d{}};
std::default_random_engine generator;
std::normal_distribution<double> distribution(0.0, 1.0);
@@ -58,15 +57,15 @@ TEST(DifferentialDrivePoseEstimatorTest, Accuracy) {
groundTruthState.velocity * groundTruthState.curvature});
if (lastVisionUpdateTime + kVisionUpdateRate < t) {
if (lastVisionPose != frc::Pose2d()) {
if (lastVisionPose != frc::Pose2d{}) {
estimator.AddVisionMeasurement(lastVisionPose, lastVisionUpdateTime);
}
lastVisionPose =
groundTruthState.pose +
frc::Transform2d(
frc::Translation2d(distribution(generator) * 0.1 * 1_m,
distribution(generator) * 0.1 * 1_m),
frc::Rotation2d(distribution(generator) * 0.01 * 1_rad));
frc::Transform2d{
frc::Translation2d{distribution(generator) * 0.1 * 1_m,
distribution(generator) * 0.1 * 1_m},
frc::Rotation2d{distribution(generator) * 0.01 * 1_rad}};
lastVisionUpdateTime = t;
}
@@ -77,7 +76,7 @@ TEST(DifferentialDrivePoseEstimatorTest, Accuracy) {
auto xhat = estimator.UpdateWithTime(
t,
groundTruthState.pose.Rotation() +
frc::Rotation2d(units::radian_t(distribution(generator) * 0.001)),
frc::Rotation2d{units::radian_t{distribution(generator) * 0.001}},
input, leftDistance, rightDistance);
double error = groundTruthState.pose.Translation()
@@ -94,5 +93,5 @@ TEST(DifferentialDrivePoseEstimatorTest, Accuracy) {
EXPECT_NEAR(0.0, errorSum / (trajectory.TotalTime().value() / dt.value()),
0.05);
EXPECT_NEAR(0.0, maxError, 0.1);
EXPECT_NEAR(0.0, maxError, 0.125);
}